相关论文: Replanning in Domains with Partial Information and…

In this work, we proposed a new dynamic distributed planning approach that is able to take into account the changes that the agent introduces on his set of actions to be planned in order to take into account the changes that occur in his…

Creating a domain model, even for classical, domain-independent planning, is a notoriously hard knowledge-engineering task. A natural approach to solve this problem is to learn a domain model from observations. However, model learning…

Classical AI planners provide solutions to planning problems in the form of long and opaque text outputs. To aid in the understanding transferability of planning solutions, it is necessary to have a rich and comprehensible representation…

This work aims to make plan recognition as planning more ready for real-world scenarios by adapting previous compilations to work with partial-order, half-seen observations of both fluents and actions. We first redefine what observations…

A common paradigm in classical planning is heuristic forward search. Forward search planners often rely on simple best-first search which remains fixed throughout the search process. In this paper, we introduce a novel search framework…

We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a…

The paradigms of transformational planning, case-based planning, and plan debugging all involve a process known as plan adaptation - modifying or repairing an old plan so it solves a new problem. In this paper we provide a…

Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…

Grounding is a critical step in classical planning, yet it often becomes a computational bottleneck due to the exponential growth in grounded actions and atoms as task size increases. Recent advances in partial grounding have addressed this…

This paper solves the planar navigation problem by recourse to an online reactive scheme that exploits recent advances in SLAM and visual object recognition to recast prior geometric knowledge in terms of an offline catalogue of familiar…

Automated planning is a prominent area of Artificial Intelligence, and an important component for intelligent autonomous agents. A cornerstone of domain-independent planning is the separation between planning logic, i.e. the automated…

Regularization techniques are widely employed in optimization-based approaches for solving ill-posed inverse problems in data analysis and scientific computing. These methods are based on augmenting the objective with a penalty function,…

Current domain-independent, classical planners require symbolic models of the problem domain and instance as input, resulting in a knowledge acquisition bottleneck. Meanwhile, although deep learning has achieved significant success in many…

Solving multiagent problems can be an uphill task due to uncertainty in the environment, partial observability, and scalability of the problem at hand. Especially in an urban setting, there are more challenges since we also need to maintain…

Landmarks have long played a pivotal role in automated planning, serving as crucial elements for improving the planning algorithms. The main limitation of classical landmark extraction methods is their sensitivity to specific planning…

Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP methods rely heavily on the manual design of planning…

Sampling-based motion planning is the predominant paradigm in many real-world robotic applications, but its performance is immensely dependent on the quality of the samples. The majority of traditional planners are inefficient as they use…

In this paper we look into the problem of planning over hybrid domains, where change can be both discrete and instantaneous, or continuous over time. In addition, it is required that each state on the trajectory induced by the execution of…

Classical planning representation languages based on first-order logic have preliminarily been used to model and solve robotic task planning problems. Wider adoption of these representation languages, however, is hindered by the limitations…

As penetration testing frameworks have evolved and have become more complex, the problem of controlling automatically the pentesting tool has become an important question. This can be naturally addressed as an attack planning problem.…